cleanup

2 files changed, 183 insertions, 361 deletions

diff --git a/src/LibCamera.h b/src/LibCamera.h
index 89cf835..fc03740 100644
--- a/src/LibCamera.h
+++ b/src/LibCamera.h
@@ -1,91 +1,91 @@
-#pragma once

+// #pragma once

 

-// #include <atomic>

-// #include <iomanip>

-// #include <iostream>

-// #include <signal.h>

-// #include <limits.h>

-// #include <memory>

-// #include <stdint.h>

-// #include <string>

-// #include <vector>

-// #include <unordered_map>

-// #include <queue>

-// #include <sstream>

-// #include <sys/mman.h>

-// #include <unistd.h>

-// #include <time.h>

-// #include <mutex>

+// // #include <atomic>

+// // #include <iomanip>

+// // #include <iostream>

+// // #include <signal.h>

+// // #include <limits.h>

+// // #include <memory>

+// // #include <stdint.h>

+// // #include <string>

+// // #include <vector>

+// // #include <unordered_map>

+// // #include <queue>

+// // #include <sstream>

+// // #include <sys/mman.h>

+// // #include <unistd.h>

+// // #include <time.h>

+// // #include <mutex>

 

-#ifdef signals

-#error ("don't include this file after any qt files")

-#endif

+// #ifdef signals

+// #error ("don't include this file after any qt files")

+// #endif

 

-#include <libcamera/controls.h>

-#include <libcamera/control_ids.h>

-#include <libcamera/property_ids.h>

-#include <libcamera/libcamera.h>

-#include <libcamera/camera.h>

-#include <libcamera/camera_manager.h>

-#include <libcamera/framebuffer_allocator.h>

-#include <libcamera/request.h>

-#include <libcamera/stream.h>

-#include <libcamera/formats.h>

-#include <libcamera/transform.h>

-// using namespace libcamera;

+// #include <libcamera/controls.h>

+// #include <libcamera/control_ids.h>

+// #include <libcamera/property_ids.h>

+// #include <libcamera/libcamera.h>

+// #include <libcamera/camera.h>

+// #include <libcamera/camera_manager.h>

+// #include <libcamera/framebuffer_allocator.h>

+// #include <libcamera/request.h>

+// #include <libcamera/stream.h>

+// #include <libcamera/formats.h>

+// #include <libcamera/transform.h>

+// // using namespace libcamera;

 

-// typedef struct {

-//     uint8_t *imageData;

-//     uint32_t size;

-//     uint64_t request;

-// } LibcameraOutData;

+// // typedef struct {

+// //     uint8_t *imageData;

+// //     uint32_t size;

+// //     uint64_t request;

+// // } LibcameraOutData;

 

-// class LibCamera {

-//     public:

-//         LibCamera(){};

-//         ~LibCamera(){};

-        

-//         int initCamera();

-//         void configureStill(int width, int height, PixelFormat format, int buffercount, int rotation);

-//         int startCamera();

-//         int resetCamera(int width, int height, PixelFormat format, int buffercount, int rotation);

-//         bool readFrame(LibcameraOutData *frameData);

-//         void returnFrameBuffer(LibcameraOutData frameData);

+// // class LibCamera {

+// //     public:

+// //         LibCamera(){};

+// //         ~LibCamera(){};

 

-//         void set(ControlList controls);

-//         void stopCamera();

-//         void closeCamera();

+// //         int initCamera();

+// //         void configureStill(int width, int height, PixelFormat format, int buffercount, int rotation);

+// //         int startCamera();

+// //         int resetCamera(int width, int height, PixelFormat format, int buffercount, int rotation);

+// //         bool readFrame(LibcameraOutData *frameData);

+// //         void returnFrameBuffer(LibcameraOutData frameData);

 

-//         Stream *VideoStream(uint32_t *w, uint32_t *h, uint32_t *stride) const;

-//         char * getCameraId();

+// //         void set(ControlList controls);

+// //         void stopCamera();

+// //         void closeCamera();

 

-//     private:

-//         int startCapture();

-//         int queueRequest(Request *request);

-//         void requestComplete(Request *request);

-//         void processRequest(Request *request);

+// //         Stream *VideoStream(uint32_t *w, uint32_t *h, uint32_t *stride) const;

+// //         char * getCameraId();

 

-//         void StreamDimensions(Stream const *stream, uint32_t *w, uint32_t *h, uint32_t *stride) const;

+// //     private:

+// //         int startCapture();

+// //         int queueRequest(Request *request);

+// //         void requestComplete(Request *request);

+// //         void processRequest(Request *request);

 

-//         unsigned int cameraIndex_;

-// 	    uint64_t last_;

-//         std::unique_ptr<CameraManager> cm;

-//         std::shared_ptr<Camera> camera_;

-//         bool camera_acquired_ = false;

-//         bool camera_started_ = false;

-// 	    std::unique_ptr<CameraConfiguration> config_;

-//         std::unique_ptr<FrameBufferAllocator> allocator_;

-//         std::vector<std::unique_ptr<Request>> requests_;

-//         // std::map<std::string, Stream *> stream_;

-//         std::map<int, std::pair<void *, unsigned int>> mappedBuffers_;

+// //         void StreamDimensions(Stream const *stream, uint32_t *w, uint32_t *h, uint32_t *stride) const;

 

-//         std::queue<Request *> requestQueue;

+// //         unsigned int cameraIndex_;

+// // 	    uint64_t last_;

+// //         std::unique_ptr<CameraManager> cm;

+// //         std::shared_ptr<Camera> camera_;

+// //         bool camera_acquired_ = false;

+// //         bool camera_started_ = false;

+// // 	    std::unique_ptr<CameraConfiguration> config_;

+// //         std::unique_ptr<FrameBufferAllocator> allocator_;

+// //         std::vector<std::unique_ptr<Request>> requests_;

+// //         // std::map<std::string, Stream *> stream_;

+// //         std::map<int, std::pair<void *, unsigned int>> mappedBuffers_;

 

-//         ControlList controls_;

-//         std::mutex control_mutex_;

-//         std::mutex camera_stop_mutex_;

-//         std::mutex free_requests_mutex_;

+// //         std::queue<Request *> requestQueue;

 

-//         Stream *viewfinder_stream_ = nullptr;

-//         std::string cameraId;

-// };

+// //         ControlList controls_;

+// //         std::mutex control_mutex_;

+// //         std::mutex camera_stop_mutex_;

+// //         std::mutex free_requests_mutex_;

+

+// //         Stream *viewfinder_stream_ = nullptr;

+// //         std::string cameraId;

+// // };

diff --git a/src/main.cpp b/src/main.cpp
index 5a7d701..e5d6c5b 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -1,32 +1,15 @@
+// cpp and linux
 #include <chrono>
 #include <csignal>
 #include <errno.h>
 #include <fcntl.h>
-#include <fstream>
 #include <iostream>
-#include <iterator>
 #include <linux/videodev2.h>
 #include <string.h>
 #include <sys/ioctl.h>
 #include <sys/mman.h>
-#include <thread>
-
-#include "LibCamera.h"
-#include "calibration.h"
-#include "camera/veye_i2c.h"
-#include "camera/veyeimx287m.h"
-#include "dumps.h"
-#include "fuck_intel.h"
-#include "genetic_algos.h"
-#include "imagealgos.h"
-#include "laser.h"
-#include "macro.h"
-#include "protocols/httpserver.h"
-// #include "pigpio.h"
-#include "printerclient.h"
-#include "profile.h"
-#include "rotaryencoder.h"
 
+// qt
 #include <QCoreApplication>
 #include <QDebug>
 #include <QDir>
@@ -41,6 +24,16 @@
 #include <QTimer>
 #include <QtConcurrent/QtConcurrent>
 
+// orpheus
+#include "LibCamera.h"
+#include "calibration.h"
+#include "camera/veyeimx287m.h"
+#include "dumps.h"
+#include "imagealgos.h"
+#include "profile.h"
+#include "protocols/httpserver.h"
+
+//
 #include "rapidjson/document.h"
 #include "rapidjson/stringbuffer.h"
 #include "rapidjson/writer.h"
@@ -50,8 +43,7 @@ extern size_t pgm_image_size;
 extern std::mutex pgm_image_mtx;
 
 #define try_apply_config() \
-    if (!applyConfig(config)) \
-    { \
+    if (!applyConfig(config)) { \
         camera->release(); \
         cm->stop(); \
 \
@@ -67,8 +59,6 @@ extern volatile int32_t positionSteps;
 requested_params_t requested_params;
 
 namespace {
-// std::shared_ptr<Image> img;
-// Image *img = nullptr;
 Pixels pixels;
 std::vector<Pixels> calibrationPixels;
 QMutex calibrationPixelsMutex;
@@ -76,154 +66,62 @@ QMutex calibrationPixelsMutex;
 
 using namespace std::chrono_literals;
 
-// static std::shared_ptr<libcamera::Camera> camera;
-// std::unique_ptr<libcamera::CameraConfiguration> config;
-// static std::map<int, std::pair<void*, unsigned int>> mappedBuffers_;
-// std::vector<std::unique_ptr<libcamera::Request>> requests;
-libcamera::ControlList lastControls;
-
 namespace {
 CalibrationTablePtr calibrationTableZ;
 CalibrationTablePtr calibrationTableX;
 } // namespace
 
-// static bool applyConfig(
-//     const std::unique_ptr<libcamera::CameraConfiguration>& config
-// );
-// static void onRequestCompleted(libcamera::Request* completed_request);
-// static void printControls();
-// static QList<Pixels> filter(const QList<Pixels>& rawProfiles);
-
-auto printPixels = [](const auto& pixels) {
+auto printPixels = [](const auto &pixels) {
     for (size_t i = (img_width - 10) / 2;
          i < img_width - ((img_width - 10) / 2);
-         ++i)
-    {
+         ++i) {
         std::cout << pixels[i] << " ";
     }
     std::cout << std::endl;
 };
 
-// void onNewImage(std::shared_ptr<Image> image)
-// void onNewImage(Image &image)
-// {
-//     // std::cout << __func__ << std::endl << std::flush;
-
-//     // if (!image)
-//     // {
-//     //     qDebug() << __func__ << "no image";
-//     //     return;
-//     // }
-
-//     ::img = &image;
-// }
-
-void onNewPixels(std::shared_ptr<Pixels> pixels)
-{
-    // std::cout << __func__ << std::endl << std::flush;
-
-    if (!pixels)
-    {
-        qDebug() << __func__ << "got null pixels";
-    }
-
-    if (!*pixels)
-    {
-        // qDebug() << __func__ << "got empty pixels";
-    }
-
-    // for (size_t i = 640 - 5; i < 640 + 5; i++)
-    // {
-    //     // std::cout << pixels->pixels[i] << " ";
-    // }
-
-    // std::cout << std::endl
-
-    ::pixels = *pixels;
-}
-
 bool initLaser();
 
 bool initCam();
 
-int main(int argc, char* argv[])
+int main(int argc, char *argv[])
 {
     auto sigHandler = [](int s) {
         std::cout << "got signal " << s << std::endl;
         std::signal(s, SIG_DFL);
-        // QTimer::singleShot(0, qApp, &QCoreApplication::quit);
-        // qApp->quit();
     };
 
-    // if (!initCam()) {
-    //     return EXIT_FAILURE;
-    // }
-
-    // return EXIT_SUCCESS;
-
-    // for (int i = 2000; i >= 0; i -= 50) {
-    // for (int i = 0; i < 2000; i += 50) {
-    //     if (!veye::imx287m::test(i)) {
-    //         return EXIT_FAILURE;
-    //     }
-    // }
-    // return EXIT_SUCCESS;
-
     std::signal(SIGINT, sigHandler);
     std::signal(SIGTERM, sigHandler);
 
     QCoreApplication app(argc, argv);
-    // QTimer::singleShot(4000, qApp, &QCoreApplication::quit);
 
     QList<QFuture<void>> initializers;
 
-    // if (false)
     qDebug() << "size of raw profile" << sizeof(Pixels);
     if (false) {
         // open binary calibration table
-        if (true)
-        {
+        if (true) {
             initializers << QtConcurrent::run([&]() {
-                if (!openCalibrationTable("/home/user/dumps/binz.calibration_table",
-                                          // "/tmp/binz.calibration_table",
-                                          ::calibrationTableZ)) {
+                if (!openCalibrationTable(
+                        "/home/user/dumps/binz.calibration_table",
+                        // "/tmp/binz.calibration_table",
+                        ::calibrationTableZ)) {
                     exit(EXIT_FAILURE);
                 }
             });
 
             initializers << QtConcurrent::run([&]() {
-                if (!openCalibrationTable("/home/user/dumps/binx.calibration_table",
-                                          // "/tmp/binx.calibration_table",
-                                          ::calibrationTableX)) {
+                if (!openCalibrationTable(
+                        "/home/user/dumps/binx.calibration_table",
+                        // "/tmp/binx.calibration_table",
+                        ::calibrationTableX)) {
                     exit(EXIT_FAILURE);
                 }
             });
         }
 
-        if (false)
-        {
-            // z
-            // if (!openCalibrationTable(
-            //         "/home/user/dumps/binz.calibration_table",
-            //         ::calibrationTableZ
-            //     ))
-            // {
-            //     exit(EXIT_FAILURE);
-            // }
-
-            // if (!calibrationTableToImage(::calibrationTableZ)
-            //          .save("/home/user/dumps/imageZ.png"))
-            // {
-            //     qDebug() << "cannot save imageZ.png";
-            //     exit(EXIT_FAILURE);
-            // }
-
-            // interpolate(::calibrationTableZ);
-            // exit(EXIT_SUCCESS);
-
-            // calibrationTableToImage(::calibrationTableZ)
-            //     .save("/home/user/dumps/imageZ_interpolated.png");
-
+        if (false) {
             auto rawProfiles = openDump("/home/user/dumps/binx");
             qDebug() << "raw x-profiles count is" << rawProfiles.size();
             // qDebug() << "height" << calibrationColumnHeight;
@@ -234,57 +132,14 @@ int main(int argc, char* argv[])
 
             ::calibrationTableX = calibrateX(std::move(filteredRawProfiles));
 
-            // for (size_t i = 9471; i < 9472; i++) {
-            //     std::cout << "row #" << i << ": ";
-
-            //     for (size_t j = 0; j < 1280; ++j) {
-            //         const auto& p = ::calibrationTableX->at(j).at(i);
-            //         std::cout << p << ' ';
-            //     }
-
-            //     std::cout << std::endl;
-            // }
-
-            // x
-            // qDebug() << "open x table";
-            // if (!openCalibrationTable("/home/user/dumps/binx.calibration_table",
-            //                           ::calibrationTableX)) {
-            //     exit(EXIT_FAILURE);
-            // }
-
-            // if (!calibrationTableToImage(::calibrationTableX)
-            //          .save("/home/user/dumps/imageX.png")) {
-            //     qDebug() << "cannot save imageX.png";
-            //     exit(EXIT_FAILURE);
-            // }
-
-            // for (size_t i = 9471; i < 9472; i++) {
-            //     std::cout << "row #" << i << ": ";
-
-            //     for (size_t j = 0; j < 1280; ++j) {
-            //         const auto& p = ::calibrationTableX->at(j).at(i);
-            //         std::cout << p << ' ';
-            //     }
-
-            //     std::cout << std::endl;
-            // }
-
-            // exit(EXIT_SUCCESS);
             interpolate(::calibrationTableX);
-
-            // calibrationTableToImage(::calibrationTableX)
-            //     .save("/home/user/dumps/imageX_interpolated.png");
         }
 
         // load binary calibration dumps and calibrate
-        if (false)
-        {
-            if (true)
-            {
+        if (false) {
+            if (true) {
                 auto rawProfiles = openDump("/home/user/dumps/binz");
-                // auto rawProfiles = openDump("/home/user/dumps/z");
                 qDebug() << "raw z-profiles count is" << rawProfiles.size();
-                // qDebug() << "height" << calibrationColumnHeight;
 
                 auto filteredRawProfiles = filter(std::move(rawProfiles));
                 qDebug() << "filtered z-profiles count is"
@@ -293,35 +148,20 @@ int main(int argc, char* argv[])
                 ::calibrationTableZ = calibrateZ(std::move(filteredRawProfiles),
                                                  requested_params.stepsPerMm);
 
-                // bool ok = calibrationTableToImage(::calibrationTableZ)
-                //               .save("/home/user/dumps/z/imageZ.png");
-
-                // if (!ok)
-                // {
-                //     qDebug() << "cannot save imageZ.png";
-                //     exit(EXIT_FAILURE);
-                // }
-
                 interpolate(::calibrationTableZ);
 
                 if (!dump(::calibrationTableZ,
-                          "/home/user/dumps/binz.calibration_table"))
-                {
+                          "/home/user/dumps/binz.calibration_table")) {
                     qApp->exit(EXIT_FAILURE);
                 }
-                // calibrationTableToImage(::calibrationTableZ)
-                //     .save("/home/user/dumps/z/imageZ_interpolated.png");
-                // exit(EXIT_SUCCESS);
             }
 
             qDebug()
                 << "--------------------------------------------------------";
 
-            if (true)
-            {
+            if (true) {
                 auto rawProfiles = openDump("/home/user/dumps/binx");
                 qDebug() << "raw x-profiles count is" << rawProfiles.size();
-                // qDebug() << "height" << calibrationColumnHeight;
 
                 auto filteredRawProfiles = filter(std::move(rawProfiles));
                 qDebug() << "filtered x-profiles count is"
@@ -329,55 +169,25 @@ int main(int argc, char* argv[])
 
                 ::calibrationTableX = calibrateX(std::move(filteredRawProfiles));
 
-                // bool ok = calibrationTableToImage(::calibrationTableX)
-                //               .save("/home/user/dumps/z/imageX.png");
-
-                // if (!ok)
-                // {
-                //     qDebug() << "cannot save imageX.png";
-                //     exit(EXIT_FAILURE);
-                // }
-
                 interpolate(::calibrationTableX);
 
                 if (!dump(::calibrationTableX,
-                          "/home/user/dumps/binx.calibration_table"))
-                {
+                          "/home/user/dumps/binx.calibration_table")) {
                     qApp->exit(EXIT_FAILURE);
                 }
-
-                // calibrationTableToImage(::calibrationTableX)
-                //     .save("/home/user/dumps/z/imageX_interpolated.png");
             }
         }
     }
 
-    // exit(EXIT_SUCCESS);
-
-    // if (!initLaser()) {
-    //     return EXIT_FAILURE;
-    // }
-
-    // PrinterClient printerClient;
-
     QElapsedTimer t;
     t.start();
 
-    qDebug() << "msecs before encoder:" << t.elapsed();
-
-    // RotaryEncoder encoder;
-
-    qDebug() << "msecs before camera:" << t.elapsed();
     // FIXME: don't use one var for everything
     int ret;
-    // const auto cameras = cm->cameras();
-    // const auto cameras = OV9281::search(cm);
-    // const auto cameras = InnoMakerOV9281::search();
+
     const auto cameras = VeyeIMX287m::search();
-    // const auto cameras =
 
-    if (cameras.empty())
-    {
+    if (cameras.empty()) {
         std::cerr << "No cameras were identified on the system." << std::endl;
 
         return EXIT_FAILURE;
@@ -386,17 +196,12 @@ int main(int argc, char* argv[])
     auto camera = cameras.at(0);
 
     std::cout << "connect everything" << std::endl;
-    // camera->newPixels.connect(&onNewPixels);
-    // camera->newImage.connect(&onNewImage);
-    // camera->newImageCallback = &onNewImage;
-    camera->newPixelsCallback = &onNewPixels;
 
-    for (auto& i : initializers)
+    for (auto &i : initializers)
         i.waitForFinished();
     std::cout << "loaded calibration tables" << std::endl;
 
-    if (!camera->startStream())
-    {
+    if (!camera->startStream()) {
         return EXIT_FAILURE;
     }
 
@@ -419,7 +224,8 @@ int main(int argc, char* argv[])
         pgm_save(&img);
         std::lock_guard<std::mutex> lg(pgm_image_mtx);
 
-        return QHttpServerResponse{QByteArray((const char *) pgm_image, pgm_image_size),
+        return QHttpServerResponse{QByteArray((const char *) pgm_image,
+                                              pgm_image_size),
                                    QHttpServerResponse::StatusCode::Ok};
     };
     qHttpServer.route("/v1/sensor/image", httpGetImage);
@@ -450,7 +256,9 @@ int main(int argc, char* argv[])
         // qt json does not allow to limit double precision
         const auto lines = pixelsToLines(::pixels);
 
-        const auto nan2zero = [](const auto &value) { return qIsNaN(value) ? 0 : value; };
+        const auto nan2zero = [](const auto &value) {
+            return qIsNaN(value) ? 0 : value;
+        };
         rapidjson::Document jd;
         jd.SetObject();
         auto &al = jd.GetAllocator();
@@ -465,9 +273,11 @@ int main(int argc, char* argv[])
 
         for (const auto &l : lines) {
             rapidjson::Value rjLineP1{rapidjson::kArrayType};
-            rjLineP1.PushBack(nan2zero(l.p1().x()), al).PushBack(nan2zero(l.p1().y()), al);
+            rjLineP1.PushBack(nan2zero(l.p1().x()), al)
+                .PushBack(nan2zero(l.p1().y()), al);
             rapidjson::Value rjLineP2{rapidjson::kArrayType};
-            rjLineP2.PushBack(nan2zero(l.p2().x()), al).PushBack(nan2zero(l.p2().y()), al);
+            rjLineP2.PushBack(nan2zero(l.p2().x()), al)
+                .PushBack(nan2zero(l.p2().y()), al);
             rapidjson::Value rjLinePoints{rapidjson::kArrayType};
             rjLinePoints.PushBack(rjLineP1, al).PushBack(rjLineP2, al);
 
@@ -511,10 +321,9 @@ int main(int argc, char* argv[])
 
     qHttpServer
         .route("/v1/commands/resetEncoder",
-               [&](const QHttpServerRequest& request) -> QHttpServerResponse {
+               [&](const QHttpServerRequest &request) -> QHttpServerResponse {
                    std::cout << "http: resetEncoder" << std::endl;
-                   if (request.method() != QHttpServerRequest::Method::Post)
-                   {
+                   if (request.method() != QHttpServerRequest::Method::Post) {
                        return QHttpServerResponse::StatusCode::NotFound;
                    }
 
@@ -527,10 +336,9 @@ int main(int argc, char* argv[])
 
     qHttpServer
         .route("/v1/commands/startCalibration",
-               [&](const QHttpServerRequest& request) -> QHttpServerResponse {
+               [&](const QHttpServerRequest &request) -> QHttpServerResponse {
                    std::cout << "http: startCalibration" << std::endl;
-                   if (request.method() != QHttpServerRequest::Method::Post)
-                   {
+                   if (request.method() != QHttpServerRequest::Method::Post) {
                        return QHttpServerResponse::StatusCode::NotFound;
                    }
 
@@ -543,28 +351,28 @@ int main(int argc, char* argv[])
                    return QHttpServerResponse::StatusCode::Ok;
                });
 
-    qHttpServer.route("/v1/commands/gCode",
-                      [&](const QHttpServerRequest &request) -> QHttpServerResponse {
-                          std::cout << "http: gCode" << std::endl;
-                          if (request.method() != QHttpServerRequest::Method::Post) {
-                              return QHttpServerResponse::StatusCode::NotFound;
-                          }
+    qHttpServer
+        .route("/v1/commands/gCode",
+               [&](const QHttpServerRequest &request) -> QHttpServerResponse {
+                   std::cout << "http: gCode" << std::endl;
+                   if (request.method() != QHttpServerRequest::Method::Post) {
+                       return QHttpServerResponse::StatusCode::NotFound;
+                   }
 
-                          const auto command = request.body();
+                   const auto command = request.body();
 
-                          qDebug() << "send gCode:" << command;
+                   qDebug() << "send gCode:" << command;
 
-                          // printerClient.sendCommand(command);
+                   // printerClient.sendCommand(command);
 
-                          return QHttpServerResponse::StatusCode::Ok;
-                      });
+                   return QHttpServerResponse::StatusCode::Ok;
+               });
 
     qHttpServer.route(
         "/v1/sensor/params",
-        [&](const QHttpServerRequest& request) -> QHttpServerResponse {
+        [&](const QHttpServerRequest &request) -> QHttpServerResponse {
             // std::cout << "http: params" << std::endl;
-            switch (request.method())
-            {
+            switch (request.method()) {
             case QHttpServerRequest::Method::Get: {
                 std::lock_guard<std::mutex> lg(pgm_image_mtx);
                 QJsonObject json;
@@ -577,8 +385,7 @@ int main(int argc, char* argv[])
 
                 auto json = QJsonDocument::fromJson(request.body()).object();
 
-                if (json.contains(exposureTimeKey))
-                {
+                if (json.contains(exposureTimeKey)) {
                     const int32_t value{json[exposureTimeKey].toInt()};
 
                     if (value == 0)
@@ -596,8 +403,7 @@ int main(int argc, char* argv[])
                     }
                 }
 
-                if (json.contains(gainKey))
-                {
+                if (json.contains(gainKey)) {
                     const auto value = json[gainKey].toDouble();
 
                     if (value == 0)
@@ -609,8 +415,7 @@ int main(int argc, char* argv[])
                             RequestRangeNotSatisfiable;
                 }
 
-                if (json.contains(laserLevelKey))
-                {
+                if (json.contains(laserLevelKey)) {
                     const int32_t value{json[laserLevelKey].toInt()};
 
                     if (!camera->setLaserLevel(value))
@@ -652,8 +457,7 @@ bool initLaser()
 
     QFile f{pwmExportFile};
 
-    if (!f.open(QFile::WriteOnly))
-    {
+    if (!f.open(QFile::WriteOnly)) {
         qWarning() << "cannot open" << f.fileName() << "for writing";
         qWarning() << "error:" << f.errorString();
 
@@ -670,8 +474,7 @@ bool initLaser()
     f.close();
     f.setFileName(periodFilename);
 
-    if (!f.open(QFile::WriteOnly))
-    {
+    if (!f.open(QFile::WriteOnly)) {
         qWarning() << "cannot open" << f.fileName() << "for writing";
         qWarning() << "error:" << f.errorString();
 
@@ -686,8 +489,7 @@ bool initLaser()
     f.close();
     f.setFileName(dutyCycleFilename);
 
-    if (!f.open(QFile::WriteOnly))
-    {
+    if (!f.open(QFile::WriteOnly)) {
         qWarning() << "cannot open" << f.fileName() << "for writing";
         qWarning() << "error:" << f.errorString();
 
@@ -702,8 +504,7 @@ bool initLaser()
     f.close();
     f.setFileName(enableFilename);
 
-    if (!f.open(QFile::WriteOnly))
-    {
+    if (!f.open(QFile::WriteOnly)) {
         qWarning() << "cannot open" << f.fileName() << "for writing";
         qWarning() << "error:" << f.errorString();
 
@@ -725,7 +526,10 @@ bool initCam()
     int fd{open(devname, O_RDWR)};
 
     if (fd < 0) {
-        printf("Error opening device %s: %s (%d).\n", devname, strerror(errno), errno);
+        printf("Error opening device %s: %s (%d).\n",
+               devname,
+               strerror(errno),
+               errno);
         fflush(stdout);
         return false;
     }
@@ -736,25 +540,35 @@ bool initCam()
     memset(&cap, 0, sizeof cap);
     const auto ret = ioctl(fd, VIDIOC_QUERYCAP, &cap);
     if (ret < 0) {
-        printf("cannot query cap for %s: %s (%d).\n", devname, strerror(errno), errno);
+        printf("cannot query cap for %s: %s (%d).\n",
+               devname,
+               strerror(errno),
+               errno);
         fflush(stdout);
         return false;
     }
 
     std::cout << devname << ": got caps" << std::endl;
 
-    const auto caps = cap.capabilities & V4L2_CAP_DEVICE_CAPS ? cap.device_caps : cap.capabilities;
+    const auto caps = cap.capabilities & V4L2_CAP_DEVICE_CAPS
+                          ? cap.device_caps
+                          : cap.capabilities;
     const bool has_video = caps
-                           & (V4L2_CAP_VIDEO_CAPTURE_MPLANE | V4L2_CAP_VIDEO_CAPTURE
-                              | V4L2_CAP_VIDEO_OUTPUT_MPLANE | V4L2_CAP_VIDEO_OUTPUT);
+                           & (V4L2_CAP_VIDEO_CAPTURE_MPLANE
+                              | V4L2_CAP_VIDEO_CAPTURE
+                              | V4L2_CAP_VIDEO_OUTPUT_MPLANE
+                              | V4L2_CAP_VIDEO_OUTPUT);
     const bool has_meta = caps & (V4L2_CAP_META_CAPTURE | V4L2_CAP_META_OUTPUT);
     const bool has_capture = caps
-                             & (V4L2_CAP_VIDEO_CAPTURE_MPLANE | V4L2_CAP_VIDEO_CAPTURE
+                             & (V4L2_CAP_VIDEO_CAPTURE_MPLANE
+                                | V4L2_CAP_VIDEO_CAPTURE
                                 | V4L2_CAP_META_CAPTURE);
     const bool has_output = caps
-                            & (V4L2_CAP_VIDEO_OUTPUT_MPLANE | V4L2_CAP_VIDEO_OUTPUT
-                               | V4L2_CAP_META_OUTPUT);
-    const bool has_mplane = caps & (V4L2_CAP_VIDEO_CAPTURE_MPLANE | V4L2_CAP_VIDEO_OUTPUT_MPLANE);
+                            & (V4L2_CAP_VIDEO_OUTPUT_MPLANE
+                               | V4L2_CAP_VIDEO_OUTPUT | V4L2_CAP_META_OUTPUT);
+    const bool has_mplane = caps
+                            & (V4L2_CAP_VIDEO_CAPTURE_MPLANE
+                               | V4L2_CAP_VIDEO_OUTPUT_MPLANE);
 
     printf("Device `%s' on `%s' (driver '%s') supports%s%s%s%s %s mplanes.\n",
            cap.card,
@@ -768,22 +582,30 @@ bool initCam()
 
     const auto buf_type = [caps, devname]() -> int {
         if (caps & V4L2_CAP_VIDEO_CAPTURE_MPLANE) {
-            std::cout << devname << ": buf_type: V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE" << std::endl;
+            std::cout << devname
+                      << ": buf_type: V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE"
+                      << std::endl;
             return V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE;
         } else if (caps & V4L2_CAP_VIDEO_OUTPUT_MPLANE) {
-            std::cout << devname << ": buf_type: V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE" << std::endl;
+            std::cout << devname
+                      << ": buf_type: V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE"
+                      << std::endl;
             return V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE;
         } else if (caps & V4L2_CAP_VIDEO_CAPTURE) {
-            std::cout << devname << ": buf_type: V4L2_BUF_TYPE_VIDEO_CAPTURE" << std::endl;
+            std::cout << devname << ": buf_type: V4L2_BUF_TYPE_VIDEO_CAPTURE"
+                      << std::endl;
             return V4L2_BUF_TYPE_VIDEO_CAPTURE;
         } else if (caps & V4L2_CAP_VIDEO_OUTPUT) {
-            std::cout << devname << ": buf_type: V4L2_BUF_TYPE_VIDEO_OUTPUT" << std::endl;
+            std::cout << devname << ": buf_type: V4L2_BUF_TYPE_VIDEO_OUTPUT"
+                      << std::endl;
             return V4L2_BUF_TYPE_VIDEO_OUTPUT;
         } else if (caps & V4L2_CAP_META_CAPTURE) {
-            std::cout << devname << ": buf_type: V4L2_BUF_TYPE_META_CAPTURE" << std::endl;
+            std::cout << devname << ": buf_type: V4L2_BUF_TYPE_META_CAPTURE"
+                      << std::endl;
             return V4L2_BUF_TYPE_META_CAPTURE;
         } else if (caps & V4L2_CAP_META_OUTPUT) {
-            std::cout << devname << ": buf_type: V4L2_BUF_TYPE_META_OUTPUT" << std::endl;
+            std::cout << devname << ": buf_type: V4L2_BUF_TYPE_META_OUTPUT"
+                      << std::endl;
             return V4L2_BUF_TYPE_META_OUTPUT;
         } else {
             printf("Device supports neither capture nor output.\n");